Dynamic Analysis of Double Pendulum 2 B2 Link BI is connected to the ground with revolute joint O,connect to B2 with revolute joint 4. Given parameters: m1=m2=m,1=l2=1,m=1kg,1=1m Initial condition 4(0)=0,4,(0)=0,,(0)=0,p2(0)=0 go-日0000,9o-p0000o Calculate time histories ofRR Constraint equation 1 xcos y Φ= ysin 中 ，0= X2 2c0s0-x- 2 cosd X2 片-2sin4-y-2sin4 2 Jacobian and right side of acceleration equationDynamic Analysis of Double Pendulum Link B1 is connected to the ground with revolute joint O, connect to B2 with revolute joint A. Given parameters: m1  m2  m , 1 2 l  l  l , m  1 kg , l  1m Initial condition (0) 0, (0) 0, (0) 0, (0) 0 1   2  1   2    T l l        0 0 2 3 0 0 2 1 q(0) ，   T q(0)  0 0 0 0 0 0 Calculate time histories of 1 2 1 2 1 1 , , , , ,     R x R y   Constraint equation                2 2 1 1 2 2 1 1 1 1 1 1 sin 2 sin 2 cos 2 cos 2 sin 2 cos 2       l y l y l x l x l y l x  ，      2 2 2 1 1 1   y x y x q Jacobian and right side of acceleration equation